CN112815841B - Position calibration method and device for normal measurement sensor - Google Patents
Position calibration method and device for normal measurement sensor Download PDFInfo
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- CN112815841B CN112815841B CN202110003939.3A CN202110003939A CN112815841B CN 112815841 B CN112815841 B CN 112815841B CN 202110003939 A CN202110003939 A CN 202110003939A CN 112815841 B CN112815841 B CN 112815841B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
Abstract
The invention relates to a position calibration method and a position calibration device of a normal measurement sensor, wherein the position calibration device of the normal measurement sensor comprises a main shaft, a core rod and a calibration plate, the main shaft is arranged on a machine tool in a transmission way, one end of the core rod is connected with the main shaft, the calibration plate is provided with a first hole, a second hole and a third hole, and the calibration plate is arranged at the other end of the core rod through the first hole, the second hole or the third hole; the first surface of the calibration plate and the second surface of the calibration plate form an included angle alpha.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a position calibration method and device of a normal measurement sensor.
Background
In the process of airplane assembly, hole making and riveting are still important operation modes in the current assembly operation. In order to avoid deviation caused by hole making and actual hole positions in manual hole making and riveting processes, the normal direction of a region to be processed needs to be calculated by measuring a plurality of point construction planes of the region through four normal direction measuring sensors. However, in the prior art, the conventional normal measurement sensor calibration method needs to calibrate the normal measurement sensor by means of external measurement equipment, and the influence of subjective factors is large, and the calibration precision is low, so that the measurement precision of the normal measurement sensor is influenced.
Disclosure of Invention
(1) Technical problem to be solved
The embodiment of the invention provides a position calibration method and a position calibration device of a normal measurement sensor, which solve the technical problem of low measurement precision of the normal measurement sensor by calibrating the position of the normal measurement sensor without depending on external equipment.
(2) Technical scheme
In a first aspect, an embodiment of the present invention provides a method for calibrating a position of a normal measurement sensor, including the following steps:
s1, mounting one end of the mandrel on the main shaft, mounting the calibration plate on the other end of the mandrel through the first hole on the calibration plate, and enabling the first surface of the calibration plate to face the main shaft;
s2, the main shaft marks the core rod and the calibrationWhen the plate belt reaches a first position, reading l of four normal measuring sensors is obtained 1 ，l 2 ，l 3 ，l 4 (ii) a Establishing a coordinate system by taking the intersection point of the calibration plate and the axis of the main shaft as an origin, and taking the connecting line of the center of the first hole and the center of the second hole as an X axis and the axis of the main shaft as a Z axis on the first surface of the first calibration plate;
when the core rod and the calibration plate are driven to the second position by the main shaft, the main shaft moves along the axis of the main shaft by a distance delta l, and readings l of four normal measurement sensors are obtained 11 ，l 21 ，l 31 ，l 41 ；
Then the component p along the main axis in the unit vector of the ray of the four normal measurement sensors is respectively:
the position components z of the four normal measuring sensors in the axial direction of the main shaft are respectively as follows:
s3, the mandrel and the calibration plate are brought to the first position by the main shaft for the second time, the calibration plate is installed at the other end of the mandrel through a second hole in the calibration plate, the second surface of the calibration plate faces the main shaft, an included angle alpha is formed between the second surface and the first surface, and readings l of the four normal measurement sensors are obtained 12 ，l 22 ，l 32 ，l 42 ；
When the core rod and the calibration plate are brought to the second position for the second time by the main shaft, the moving distance of the main shaft along the axis of the main shaft is delta l, and the readings l of the four normal measurement sensors are obtained 13 ，l 23 ，l 33 ，l 43 ；
Then the component n along the Y axis in the unit vector of the four normal measurement sensor rays is:
s4, the mandrel and the calibration plate are brought to the first position for the third time by the main shaft, the calibration plate is installed at the other end of the mandrel through a third hole in the calibration plate, and readings l of the four normal measurement sensors are obtained 14 ，l 24 ，l 34 ，l 44 ；
When the mandrel and the calibration plate are brought to the second position for the third time by the main shaft, the moving distance of the main shaft along the axis of the main shaft is delta l, and the readings l of the four normal measuring sensors are obtained 15 ，l 25 ，l 35 ，l 45 ；
The component m along the Y axis in the unit vector of the four normal measurement sensor rays is:
s5, according to the plane equation of the calibration plate in step S3 and step S4, the variables obtained in the above steps are substituted into the coordinates x and y of the four normal measurement sensors, and then:
so as to obtain the coordinates (x) of the four normal measuring sensors 1 ，y 1 ，z 1 )，(x 2 ，y 2 ，z 2 )，(x 3 ，y 3 ，z 3 )，(x 4 ，y 4 ，z 4 ) The unit vectors (m) of the radiation of the four normal measuring sensors (11,12,13,14) are obtained 1 ，n 1 ，p 1 )，(m 2 ，n 2 ，p 2 )，(m 3 ，n 3 ，p 3 )，(m 4 ，n 4 ，p 4 )。
In a further refinement, the angle α is less than 90 °.
In a further refinement, the angle α is less than or equal to 45 °.
In a further refinement, the angle α is 45 °.
The second purpose of the present invention is to provide a position calibration device for a normal measurement sensor, which adopts the following technical scheme:
a position calibration device of a normal measurement sensor comprises a main shaft, a core rod and a calibration plate, wherein the main shaft is arranged on a machine tool in a transmission mode, one end of the core rod is connected with the main shaft, a first hole, a second hole and a third hole are formed in the calibration plate, and the calibration plate is arranged at the other end of the core rod through the first hole, the second hole or the third hole; the first surface of the calibration plate and the second surface of the calibration plate form an included angle alpha.
In a further refinement, the angle α is less than 90 °.
In a further refinement, the angle α is less than 45 °.
In a further refinement, the angle α is 45 °.
In a further improvement, on the first surface of the calibration plate, a connecting line between the center of the first hole and the center of the second hole is a first connecting line, a connecting line between the center of the first hole and the center of the third hole is a second connecting line, and the first connecting line is perpendicular to the second connecting line.
(3) Advantageous effects
In summary, the position calibration method of the normal measurement sensor of the invention finally obtains the coordinates and the ray unit vectors of the four normal measurement sensors, thereby accurately obtaining the positions of the four normal measurement sensors and solving the technical problem of low measurement precision of the normal measurement sensors. The traditional normal measurement sensor calibration method needs to calibrate the normal measurement sensor by external measurement equipment, and the position calibration method and the position calibration device of the normal measurement sensor do not need to calibrate measurement equipment outside the normal measurement sensor by division, so that the dependence on the measurement equipment is reduced. The calibration precision is not influenced by the control precision and the working condition of the equipment, the artificial subjective influence is eliminated, and the calibration precision can be improved.
The position calibration device of the normal measurement sensor has the advantages of simple structure, small volume, modularization, convenience in processing and carrying, low cost and no need of other auxiliary devices, reduces the operations of adjusting the normal measurement sensor and the like during calibration of the normal measurement sensor, realizes positioning by using the first hole, the second hole and the third hole, and reduces the difficulty of operation during calibration and the complexity of operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram (perspective view) of a position calibration device of a normal measurement sensor and four normal measurement sensors in an embodiment of the invention.
Fig. 2 is a schematic structural diagram (side view) of a position calibration device of a normal measurement sensor and four normal measurement sensors in an embodiment of the invention.
Fig. 3 is a schematic structural view (front view and left view) of a calibration plate in an embodiment of the present invention.
FIG. 4 is a schematic diagram of normal measurement sensor calibration.
In the figure:
1-calibrating a plate; 2-a main shaft; 3-core rod; 4-positioning pins; 11-14-normal measurement sensor; h 1-third hole; h 2-second hole; h 3-first hole; s1 — first side; s2-second side; the angle alpha-is included.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 4, a represents a normal measurement sensor, P represents a ray spot of the normal measurement sensor, l represents a reading of the normal measurement sensor, and a coordinate system is established on the first surface S1 of the first calibration plate 1 by taking an intersection point of the axes of the first hole h3 and the second hole h1 as an X-axis and taking the axis of the main shaft 2 as a Z-axis, with an origin being an intersection point of the axes of the calibration plate 1 and the main shaft 2. Let the normal measurement sensor location coordinate be (x, y, z) and AP be (m, n, p) for the normal measurement sensor ray unit vector.
From the relationship between unit vector and modulus:
then the coordinate calculation formula of the spot P can be obtained:
the following are the optimal steps of the calibration method from the viewpoint of reducing calculation.
Specifically, in the present embodiment, referring to fig. 1 to 4, a method for calibrating a position of a normal measurement sensor includes the following steps:
s1, one end of the mandrel 3 is installed on the main shaft 2, the calibration plate 1 is installed on the other end of the mandrel 3 through the first hole h3 on the calibration plate 1, and the first surface S1 of the calibration plate 1 faces the main shaft 2;
s2, when the mandrel 3 and the calibration plate 1 are brought to the first position by the main shaft 2, readings l of four normal measurement sensors (11,12,13,14) are obtained 1 ，l 2 ，l 3 ，l 4 (ii) a Taking the intersection point of the axes of the calibration plate 1 and the main shaft 2 as an origin, on the first surface S1 of the first calibration plate 1, taking the connecting line of the center of the first hole h3 and the center of the second hole h1 as an X axis, and taking the axis of the main shaft 2 as a Z axisEstablishing a coordinate system;
when the core rod 3 and the calibration plate 1 are brought to the second position by the spindle 2, the spindle 2 moves along the axis thereof by a distance delta l, and readings l of four normal measurement sensors (11,12,13,14) are obtained 11 ，l 21 ，l 31 ，l 41 ；
The component p along the axis of the main shaft 2 in the unit vector of the rays of the four normal measuring sensors (11,12,13,14) is respectively:
the position components z of the four normal measuring sensors (11,12,13,14) in the axial direction of the main shaft 2 are respectively:
s3, the spindle 2 brings the mandrel 3 and the calibration plate 1 to the first position for the second time, the calibration plate 1 is installed at the other end of the mandrel 3 through the second hole h1 on the calibration plate 1, the second surface S2 of the calibration plate 1 faces the spindle 2, the second surface S2 and the first surface S1 form an included angle alpha, and readings l of the four normal measurement sensors (11,12,13,14) are obtained 12 ，l 22 ，l 32 ，l 42 ；
When the spindle 2 brings the core rod 3 and the calibration plate 1 to the second position for the second time, the spindle 2 moves along the axis by a distance Δ l, and readings l of the four normal measurement sensors (11,12,13,14) are obtained 13 ，l 23 ，l 33 ，l 43 ；
The component n along the Y axis in the unit vector of the radiation of the four normal measuring sensors (11,12,13,14) is:
s4, the spindle 2 brings the core rod 3 and the calibration plate 1 to the first position for the third time, and the calibration plate 1 passes throughThe third hole in the calibration plate 1 is mounted at the other end of the mandrel 3, taking readings l of four normal measurement sensors (11,12,13,14) 14 ，l 24 ，l 34 ，l 44 ；
When the spindle 2 brings the core rod 3 and the calibration plate 1 to the second position for the third time, the spindle 2 moves along the axis by a distance delta l, and readings l of four normal measurement sensors (11,12,13,14) are obtained 15 ，l 25 ，l 35 ，l 45 ；
The component m along the Y axis in the unit vector of the radiation of the four normal measuring sensors (11,12,13,14) is:
s5, according to the plane equation of the calibration board 1 in step S3 and step S4, the variables obtained in the above steps are substituted into the coordinates x and y of the four normal measurement sensors (11,12,13,14), and then:
the coordinates (x) of the four normal measuring sensors (11,12,13,14) are thus obtained 1 ，y 1 ，z 1 )，(x 2 ，y 2 ，z 2 )，(x 3 ，y 3 ，z 3 )，(x 4 ，y 4 ，z 4 ) The unit vectors (m) of the radiation of the four normal measuring sensors (11,12,13,14) are obtained 1 ，n 1 ，p 1 )，(m 2 ，n 2 ，p 2 )，(m 3 ，n 3 ，p 3 )，(m 4 ，n 4 ，p 4 )。
According to the position calibration method of the normal measurement sensors, the coordinates and the ray unit vectors of the four normal measurement sensors (11,12,13 and 14) are obtained finally, so that the positions of the four normal measurement sensors can be accurately obtained, and the technical problem of low measurement precision of the normal measurement sensors is solved. The conventional normal measurement sensor calibration method needs to calibrate the normal measurement sensor by means of external measurement equipment, and the position calibration method and the position calibration device of the normal measurement sensor do not need to use measurement equipment outside the normal measurement sensor by means of division, so that the dependence on the measurement equipment is reduced. The calibration precision is not influenced by the control precision and the working condition of the equipment, the artificial subjective influence is eliminated, and the calibration precision can be improved.
Further, in one embodiment, the included angle α is less than 90 °.
Further, in an embodiment, the included angle α is less than or equal to 45 °.
Further, in one embodiment, the included angle α is 45 °.
The embodiment further provides a position calibration device of the normal measurement sensor, and the technical scheme adopted by the device is as follows:
a position calibration device of a normal measurement sensor comprises a main shaft 2, a core rod 3 and a calibration plate 1, wherein the main shaft 2 is arranged on a machine tool in a transmission mode, one end of the core rod 3 is connected with the main shaft 2, a first hole h3, a second hole h1 and a third hole are formed in the calibration plate 1, and the calibration plate 1 is installed at the other end of the core rod 3 through the first hole h3, the second hole h1 or the third hole; the first surface S1 of the calibration plate 1 and the second surface S2 of the calibration plate 1 have an included angle α. Specifically, the calibration plate 1 and the core rod 3 are connected in a locating mode through the locating pin 4, the four normal direction measuring sensors (11,12,13 and 14) are arranged along the circumferential direction of the core rod 3, and the four normal direction measuring sensors (11,12,13 and 14) emit ray light spots towards the calibration plate 1, so that the position of the calibration plate 1 is measured and detected.
The position calibration device of the normal direction measuring sensor has the advantages of being simple in structure, small in size, modularized, convenient to process and carry, low in cost, free of other auxiliary devices, capable of reducing operations such as adjustment of the normal direction measuring sensor during calibration of the normal direction measuring sensor, capable of achieving positioning by means of the first hole, the second hole and the third hole, and capable of reducing the difficulty of operation during calibration and the complexity of operation.
Further, in one embodiment, the included angle α is less than 90 °.
Further, in an embodiment, the included angle α is less than 45 °.
Further, in one embodiment, the included angle α is 45 °.
Further, in an embodiment, on the first surface S1 of the calibration plate 1, a line connecting the center of the first hole h3 and the center of the second hole h1 is a first line, a line connecting the center of the first hole h3 and the center of the third hole is a second line, and the first line and the second line are perpendicular.
The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (9)
1. A position calibration method of a normal measurement sensor is characterized by comprising the following steps:
s1, mounting one end of the mandrel on the main shaft, mounting the calibration plate on the other end of the mandrel through the first hole on the calibration plate, and enabling the first surface of the calibration plate to face the main shaft;
s2, when the mandrel and the calibration plate are driven to the first position by the main shaft, readings l of four normal measurement sensors are obtained 1 ，l 2 ，l 3 ，l 4 (ii) a Establishing a coordinate system by taking the intersection point of the calibration plate and the axis of the main shaft as an origin, and taking the connecting line of the center of the first hole and the center of the second hole as an X axis and the axis of the main shaft as a Z axis on the first surface of the first calibration plate;
when the core rod and the calibration plate are driven to the second position by the main shaft, the main shaft moves along the axis of the main shaft by a distance delta l, and readings l of four normal measurement sensors are obtained 11 ，l 21 ，l 31 ，l 41 ；
The component p along the main axis in the unit vector of the ray of the four normal measuring sensors is respectively:
the position components z of the four normal measuring sensors in the axial direction of the main shaft are respectively as follows:
s3, the spindle brings the core rod and the calibration plate to the first position for the second time, the calibration plate is installed at the other end of the core rod through a second hole in the calibration plate, the second surface of the calibration plate faces the spindle, an included angle alpha is formed between the second surface and the first surface, and readings l of the four normal measurement sensors are obtained 12 ，l 22 ，l 32 ，l 42 ；
When the core rod and the calibration plate are brought to the second position for the second time by the main shaft, the moving distance of the main shaft along the axis of the main shaft is delta l, and the readings l of the four normal measurement sensors are obtained 13 ，l 23 ，l 33 ，l 43 ；
Then the component n along the Y axis in the unit vector of the four normal measurement sensor rays is:
s4, the mandrel and the calibration plate are brought to the first position for the third time by the main shaft, the calibration plate is installed at the other end of the mandrel through a third hole in the calibration plate, and readings l of the four normal measurement sensors are obtained 14 ，l 24 ，l 34 ，l 44 ；
When the mandrel and the calibration plate are brought to the second position for the third time by the main shaft, the moving distance of the main shaft along the axis of the main shaft is delta l, and the readings l of the four normal measuring sensors are obtained 15 ，l 25 ，l 35 ，l 45 ；
The component m along the Y axis in the unit vector of the four normal measurement sensor rays is:
s5, according to the plane equation of the calibration plate in step S3 and step S4, the variables obtained in the above steps are substituted into the coordinates x and y of the four normal measurement sensors, and then:
so as to obtain the coordinates (x) of the four normal measuring sensors 1 ，y 1 ，z 1 )，(x 2 ，y 2 ，z 2 )，(x 3 ，y 3 ，z 3 )，(x 4 ，y 4 ，z 4 ) The unit vectors (m) of the rays of the four normal measuring sensors (11,12,13,14) are obtained 1 ，n 1 ，p 1 )，(m 2 ，n 2 ，p 2 )，(m 3 ，n 3 ，p 3 )，(m 4 ，n 4 ，p 4 )。
2. Method for calibrating the position of a normal measurement sensor according to claim 1, characterized in that said angle α is smaller than 90 °.
3. The method for calibrating the position of a normal measurement sensor according to claim 2, wherein the included angle α is less than or equal to 45 °.
4. A method for calibrating the position of a normal measurement sensor according to claim 3, wherein said angle α is 45 °.
5. A position calibration device of a normal direction measurement sensor, which is adopted by the position calibration method of the normal direction measurement sensor according to any one of claims 1 to 4, and is characterized by comprising a main shaft, a core rod and a calibration plate, wherein the main shaft is arranged on a machine tool in a transmission manner, one end of the core rod is connected with the main shaft, the calibration plate is provided with a first hole, a second hole and a third hole, and the calibration plate is arranged at the other end of the core rod through the first hole, the second hole or the third hole; the first surface of the calibration plate and the second surface of the calibration plate form an included angle alpha.
6. The position calibration device of a normal measurement sensor according to claim 5, wherein the included angle α is smaller than 90 °.
7. The position calibration device of a normal measurement sensor according to claim 5, wherein the included angle α is smaller than 45 °.
8. The position calibration device of a normal measurement sensor according to claim 5, wherein the included angle α is 45 °.
9. The position calibration device of the normal direction measurement sensor according to claim 5, wherein on the first surface of the calibration plate, a line connecting the center of the first hole and the center of the second hole is a first line, a line connecting the center of the first hole and the center of the third hole is a second line, and the first line and the second line are perpendicular.
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